yes, quite nicely, but took a couple tries.
If you already havn't, download HP print utility for PPC:
HP PPC printing
I had to install/uninstall it a couple times for it to work. Due to the Axim's anemic IR, placement is a tad touchy. To make things easier, I usually have IR search mode off.
placement is about 6-8 inches away with the IR sensor overshooting the IR port on the printer by about 1/2 inch offset to the right (PPC 1/2 in to the right of IR to IR on printer). Photo's come out screen sized even if the source file is larger, Word and Excel printouts are servicable, but not professional enough to hand out at meetings (coming from Doc's to go and Print Boy on my Visor,..IR printing on the Axiim a bit of a dissapointment).
I have the photosmart and 2100 series (laser) set up on my Axim, both print very well (once the alignment is right ;) ).